Template Function pinocchio::log6(const Eigen::QuaternionBase<QuaternionLike>&, const Eigen::MatrixBase<Vector3Like>&)

• Defined in File explog.hpp

Function Documentation

template<typename Vector3Like, typename QuaternionLike>
MotionTpl<typename Vector3Like::Scalar, Vector3Like::Options> pinocchio::log6(const Eigen::QuaternionBase<QuaternionLike> &quat, const Eigen::MatrixBase<Vector3Like> &vec)

Log: SE3 -> se3.

Pseudo-inverse of exp from \( SE3 \to { v,\omega \in \mathfrak{se}(3), ||\omega|| < 2\pi } \), using the quaternion representation of the rotation.

Parameters:

• quat – [in] The rotation quaternion.

• vec – [in] The translation vector.

Returns:

The twist associated to the rigid transformation during time 1.